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Dynamics and smooth trajectory planning of free floating space robot with zero-disturbance spacecraft attitude

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3 Author(s)
Fu Yili ; Harbin Inst. of Technol., Harbin ; Zhang Fuhai ; Wang Shuguo

The stability of the spacecraft attitude is very important to the normal work of solar cells and the communication between the system and earth. Therefore a work mode of free floating space robot (FFSR) with zero-disturbance spacecraft attitude is presented; the dynamic equation of FFSR with zero-disturbance spacecraft attitude is derived based on Lagrange method; the smooth and consecutive joint trajectories are designed by adopting a planning method of trigonometric function according to the boundary conditions; the time distribution method of smooth segments to aim at the optimization of joint torques is investigated. The simulation results validate the method proposed, and the outcome sets a good foundation for the motion planning and control of FFSR with zero-disturbance spacecraft attitude.

Published in:

Control Conference, 2008. CCC 2008. 27th Chinese

Date of Conference:

16-18 July 2008